2. NXP
  3. DSP56F801
DSP56F801

NXP DSP56F801, DSP56F801FA60, DSP56F802, DSP56F802TA60, DSP56F803, DSP56F805, DSP56F807 User guide

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56F800
16-bit Digital Signal Controllers
freescale.com
DSP56F800
User Manual
DSP56F801-7UM
Rev. 8
03/2007
This manual is one of a set of three documents. You need the following manuals to have complete
product information: Family Manual, User’s Manual, and Technical Data Sheet.
Note: With the exception of errata documents, if any other Freescale document contains information
that conflicts with the information in the device data sheet, the data sheet should be
considered to have the most current and correct data.
Order this document by DSP56F801-7UM/D - Rev.
8
March 2007
Summary of Changes and Updates:
Added “List of Figures” and “List of Tables” sections after the Table of Contents.
See the “Document Revision History” section of each chapter for chapter-specific changes.
TABLE OF CONTENTS
DSP56F800 Family User’s Manual, Rev. 8
Freescale Semiconductor Table of Contents - i
Preliminary
Chapter 1
56F800 Family
1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 DSP56800 Family Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.3 Manual Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.4 Additional information: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.5 Manual Conventions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.6 Architectural Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.7 DSP56800 Core Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
1.7.1 56800 Core Block Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
1.7.2 Data Arithmetic Logic Unit (Data ALU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
1.7.3 Address Generation Unit (AGU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
1.7.4 Program Controller and Hardware Looping Unit. . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
1.7.5 Bit Manipulation Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
1.7.6 Address and Data Buses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20
1.7.7 On-Chip Emulation (OnCE) Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21
1.7.8 On-Chip Clock Synthesis Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21
1.7.9 Oscillators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22
1.7.10 PLL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22
1.7.11 Resets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22
1.7.12 Core Voltage Regulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-23
1.7.13 IPBus Bridge. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-23
1.8 Memory Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-23
1.8.1 Program Flash. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-24
1.8.2 Program RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-25
1.8.3 Data Flash. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-
25
1.8.4 Data RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-25
1.9 56F801 Peripheral Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-26
1.10 56F802 Peripheral Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-26
1.11 56F803 Peripheral Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-27
1.12 56F805 Peripheral Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-27
1.13 56F807 Peripheral Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-28
1.14 Peripheral Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-29
1.14.1 External Memory Interface (EMI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-29
1.14.2 General Purpose Input/Output Port (GPIO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-29
1.14.3 Serial Peripheral Interface (SPI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-30
1.14.4 COP/Watchdog Timer & Modes of Operation Module . . . . . . . . . . . . . . . . . . . . . 1-30
1.14.5 JTAG/OnCE Port. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-30
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Table of Contents - ii Freescale Semiconductor
1.14.6 Quadrature Decoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-31
1.14.7 Quad Timer Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-31
1.14.8 Pulse Width Modulator (PWM) Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-32
1.14.9 Analog-to-Digital Conversion (ADC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-33
1.14.10 ADC and PWM Synchronization Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-33
1.14.11 Serial Communications Interface (SCI). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-34
1.14.12 Controller Area Network (CAN) Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-34
1.14.13 Peripheral Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-34
Chapter 2
Pin Descriptions
2.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Power and Ground Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.3 Clock and Phase Lock Loop Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
2.4 Address, Data, and Bus Control Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2.5 Interrupt and Program Control Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2.6 GPIO Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
2.7 Pulse Width Modulator (PWM) Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
2.8 Serial Peripheral Interface (SPI) Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16
2.9 Quadrature Decoder Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17
2.10 Serial Communications Interface (SCI) Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
2.11 CAN Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
2.12 Analog-to-Digital Converter (ADC) Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
2.13 Quad Timer Module Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
2.14 JTAG/OnCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Chapter 3
Memory and Operating Modes
3.1 Memory Map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Memory Map Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.3 Data Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.3.1 Bus Control Register (BCR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.3.1.1 Reserved—Bits 15–10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.3.1.2 Drive (DRV)—Bit 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.3.1.3 Reserved—Bit 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.3.1.4 Wait State Data Memory (WSX[3:0])—Bits 7–4 . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.3.1.5 Wait State P Memory (WSP[3:0])—Bits 3–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.3.2 Operating Mode Register (OMR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.3.2.1 Nested Looping (NL)—Bit 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.3.2.2 Reserved—Bits 14–9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
DSP56F800 Family User’s Manual, Rev. 8
Freescale Semiconductor Table of Contents - iii
3.3.2.3 Condition Codes (CC)—Bit 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.3.2.4 Reserved—Bit 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.3.2.5 Stop Delay (SD)—Bit 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.3.2.6 Rounding (R)—Bit 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.3.2.7 Saturation (SA)—Bit 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.3.2.8 External X Memory (EX)—Bit 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.3.2.9 Reserved—Bit 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.3.2.10 Operating Mode B (MB)—Bit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.3.2.11 Operating Mode A (MA)—Bit 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.4 Core Configuration Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.5 On-Chip Peripheral Memory Map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.6 Program Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
3.7 56800 Operating Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
3.7.1 Mode 0–Single Chip Mode: Start-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
3.7.2 Modes 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
3.7.3 Mode 3–External. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
3.8 Boot Flash Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
3.9 Executing Programs from XRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
3.10 56800 Reset and Interrupt Vectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
3.11 Memory Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33
Chapter 4
Interrupt Controller (ITCN)
4.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Interrupt Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.3 Interrupt Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.4 Priority Level Register (PLR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.5 Interrupt Exceptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.6 Interrupt Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.7 Interrupt Priority Register (IPR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.8 ITCN Register Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.9 Priority Level and Vector Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.10 Register Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.10.1 Group Priority Registers 2–15 (GPR2–GPR15) . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
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Table of Contents - iv Freescale Semiconductor
Chapter 5
Flash Memory Interface
5.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.3 Flash Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.4 Program Flash (PFLASH). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.5 Data Flash (DFLASH). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.6 Boot Flash (BFLASH). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.7 Program/Data/Boot Flash Interface Unit Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.8 Program/Data/Boot Flash Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.9 Functional Description of the PFIU, DFIU, and BFIU. . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.10 Flash Programming and Erase Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.10.1 Intelligent Word Programming. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.10.2 Dumb Word Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.10.3 Intelligent Erase Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5.11 Register Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5.11.1 Flash Control Register (FIU_CNTL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.11.1.1 Busy (BUSY)—Bit 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.11.1.2 Reserved—Bits 14–7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.11.1.3 Information Block Enable (IFREN)—Bit 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.11.1.4 X Address Enable (XE)—Bit 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.11.1.5 Y Address Enable (YE)—Bit 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.11.1.6 Program Cycle Definition (PROG)—Bit 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.11.1.7 Erase Cycle Definition (ERASE)—Bit 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.11.1.8 Mass Erase Cycle Definition (MAS1)—Bit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.11.1.9 Non-Volatile Store Cycle Definition (NVSTR)—Bit 0. . . . . . . . . . . . . . . . . . . . 5-19
5.11.2 Flash Program Enable Register (FIU_PE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
5.11.2.1 Dumb Program Enable (DPE)—Bit 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
5.11.2.2 Intelligent Program Enable (IPE)—Bit 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
5.11.2.3 Reserved—Bits 13–10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
5.11.2.4 Row Number (ROW)—Bits 9–0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
5.11.3 Flash Erase Enable Register (FIU_EE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.11.3.1 Dumb Erase Enable (DEE)—Bit 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.11.3.2 Intelligent Erase Enable (IEE)—Bit 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.11.3.3 Reserved—Bits 13–7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.11.3.4 Page Number (PAGE)—Bits 6–0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.11.4 Flash Address Register (FIU_ADDR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
5.11.5 Flash Data Register (FIU_DATA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
5.11.6 Flash Interrupt Enable Register (FIU_IE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.11.6.1 Reserved—Bits 15–12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.11.6.2 Interrupt Enable (IE)—Bits 11–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
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5.11.7 Flash Interrupt Source Register (FIU_IS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.11.7.1 Reserved—Bits 15–12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.11.7.2 Interrupt Source (IS)—Bit 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.11.7.3 Interrupt Source (IS)—Bit 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
5.11.7.4 Interrupt Source (IS)—Bit 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
5.11.7.5 Interrupt Source (IS)—Bit 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
5.11.7.6 Interrupt Source (IS)—Bit 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
5.11.7.7 Interrupt Source (IS)—Bit 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
5.11.7.8 Interrupt Source (IS)—Bit 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
5.11.7.9 Interrupt Source (IS)—Bit 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
5.11.7.10 Interrupt Source (IS)—Bit 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
5.11.7.11 Interrupt Source (IS)—Bit 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
5.11.7.12 Interrupt Source (IS)—Bit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
5.11.7.13 Interrupt Source (IS)—Bit 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.11.8 Flash Interrupt Pending Register (FIU_IP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.11.8.1 Reserved—Bits 15–12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.11.8.2 Interrupt Pending (IP)—Bits 11–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.11.9 Flash Clock Divisor Register (FIU_CLKDIVISOR) . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.11.9.1 Reserved—Bits 15–4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.11.9.2 Clock Divisor (N)—Bits 3–0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
5.11.10 Flash TERASE Limit Register (FIU_TERASEL) . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
5.11.10.1 Reserved—Bits 15–7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
5.11.10.2 Timer Erase Limit (TERASEL)—Bits 6–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
5.11.11 Flash TME Limit Register (FIU_TMEL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
5.11.11.1 Reserved—Bits 15–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
5.11.11.2 Timer Mass Erase Limit (TMEL)—Bit 7–0. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
5.11.12 Flash TNVS Limit Register (FIU_TNVSL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
5.11.12.1 Reserved—Bits 15–11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
5.11.12.2 Timer Non-Volatile Storage Limit (TNVSL)—Bits 10–0. . . . . . . . . . . . . . . . . . 5-28
5.11.13 Flash TPGS Limit Register (FIU_TPGSL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.11.13.1 Reserved—Bits 15–12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.11.13.2 Timer Program Setup Limit (TPGSL)—Bits 11–0 . . . . . . . . . . . . . . . . . . . . . . 5-28
5.11.14 Flash TPROG Limit Register (FIU_TPROGL). . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.11.14.1 Reserved—Bits 15–14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29
5.11.14.2 Timer Program Limit (TPROGL)—Bits 13–0 . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29
5.11.15 Flash TNVH Limit Register (FIU_TNVHL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29
5.11.15.1 Reserved—Bits 15–11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29
5.11.15.2 Timer Non-Volatile Hold Limit (TNVHL)—Bits 10–0 . . . . . . . . . . . . . . . . . . . . 5-29
5.11.16 Flash TNVH1 Limit Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
5.11.16.1 Reserved—Bit 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
5.11.16.2 Timer Non-Volatile Hold 1 Limit (TNVH1L[14:0])—Bits 14–0 . . . . . . . . . . . . . 5-30
5.11.17 Flash TRCV Limit Register (FIU_TRCVL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
5.11.17.1 Reserved—Bits 15–9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
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5.11.17.2 Timer Recovery Limit (TRCVL[8:0])—Bits 8–0 . . . . . . . . . . . . . . . . . . . . . . . . 5-31
5.11.18 Flash Interface Unit Timeout Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31
5.12 Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31
5.13 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31
Chapter 6
External Memory Interface (EMI)
6.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2.1 External Memory Port Architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.3 Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.4 Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.4.1 Bus Control Register (BCR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.4.1.1 Reserved—Bits 15–10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.4.1.2 Drive (DRV)—Bit 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.4.1.3 Reserved—Bit 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.4.1.4 Wait State X Data Memory (WSX)—Bits 7–4 . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.4.1.5 Wait State P Program Memory (WSP)—Bits 3–0 . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.4.2 State of Pins in Different Processing States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Chapter 7
General Purpose Input/Output (GPIO)
7.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2.1 Summary: Dedicated and Multiplexed GPIOs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3 GPIO Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.4 Register Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.5 Chip Specific Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
7.6 Register Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
7.6.1 Pull-Up Enable Register (PUR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
7.6.2 Data Register (DR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
7.6.3 Data Direction Register (DDR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
7.6.4 Peripheral Enable Register (PER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
7.6.5 Interrupt Assert Register (IAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
7.6.6 Interrupt Enable Register (IENR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
7.6.7 Interrupt Polarity Register (IPOLR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
7.6.8 Interrupt Pending Register (IPR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
7.6.9 Interrupt Edge Sensitive Register (IESR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
7.7 GPIO Programming Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
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Chapter 8
Controller Area Network (CAN)
8.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.3 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.4.1 Message Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.4.1.1 Message Transmit Background. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
8.4.1.2 Transmit Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.4.1.3 Receive Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.4.1.4 Identifier Acceptance Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.4.2 Protocol Violation Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11
8.4.3 Clock System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12
8.5 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8.5.1 Normal Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8.5.2 Special Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8.5.3 Emulation Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8.5.4 Security Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8.6 Pin Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8.7 Register Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16
8.7.1 CAN Control Register 0 (CANCTL0). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
8.7.1.1 Reserved—Bits 15–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.7.1.2 Received Frame Flag (RXFRM)—Bit 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.7.1.3 Receiver Active Status (RXACT)—Bit 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.7.1.4 CAN Stops in Wait Mode (CSWAI)—Bit 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.7.1.5 Synchronized Status (SYNCH)—Bit 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.7.1.6 Reserved—Bit 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.7.1.7 Sleep Acknowledge (SLPAK)—Bit 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-25
8.7.1.8 Sleep Request–Go Into Sleep Mode (SLPRQ)—Bit 1. . . . . . . . . . . . . . . . . . . 8-25
8.7.1.9 Soft Reset (SFTRES)—Bit 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-25
8.7.2 CAN Control Register 1 (CANCTL1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-26
8.7.2.1 Reserved—Bits 15–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-26
8.7.2.2 CAN Enable (CANE)—Bit 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-26
8.7.2.3 Reserved—Bits 6–3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-26
8.7.2.4 Loop Back Self Test Mode (LOOPB)—Bit 2 . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.7.2.5 Wake-Up Mode (WUPM)—Bit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.7.2.6 CAN Clock Source (CLKSRC)—Bit 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.7.3 CAN Bus Timing Register 0 (CANBTR0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.7.3.1 Reserved—Bits 15–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-28
8.7.3.2 Synchronization Jump Width (SJW)—Bits 7–6 . . . . . . . . . . . . . . . . . . . . . . . . 8-28
8.7.3.3 Baud Rate Prescaler (BRP)—Bits 5–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-28
8.7.4 CAN Bus Timing Register 1 (CANBTR1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-28
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8.7.4.1 Reserved—Bits 15–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-29
8.7.4.2 Sampling (SAMP)—Bit 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-29
8.7.4.3 Time Segment 2 (TSEG22–TSEG20)—Bits 6–4. . . . . . . . . . . . . . . . . . . . . . . 8-29
8.7.4.4 Time Segment 1 (TSEG13–TSEG10)—Bits 3–0. . . . . . . . . . . . . . . . . . . . . . . 8-30
8.7.5 CAN Receiver Flag Register (CANRFLG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-30
8.7.5.1 Reserved—Bits 15–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-31
8.7.5.2 Wake-Up Interrupt Flag (WUPIF)—Bit 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-31
8.7.5.3 Receiver Warning Interrupt Flag (RWRNIF)—Bit 6. . . . . . . . . . . . . . . . . . . . . 8-31
8.7.5.4 Transmitter Warning Interrupt Flag (TWRNIF)—Bit 5 . . . . . . . . . . . . . . . . . . . 8-32
8.7.5.5 Receiver Error Passive Interrupt Flag (RERRIF)—Bit 4 . . . . . . . . . . . . . . . . . 8-32
8.7.5.6 Transmitter Error Passive Interrupt Flag (TERRIF)—Bit 3 . . . . . . . . . . . . . . . 8-32
8.7.5.7 Bus Off Interrupt Flag (BOFFIF)—Bit 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-32
8.7.5.8 Overrun Interrupt Flag (OVRIF)—Bit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-33
8.7.5.9 Receive Buffer Full (RXF)—Bit 0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-33
8.7.6 CAN Receiver Interrupt Enable Register (CANRIER). . . . . . . . . . . . . . . . . . . . . . 8-33
8.7.6.1 Reserved—Bits 15–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-34
8.7.6.2 Wake-Up Interrupt Enable (WUPIE)—Bit 7. . . . . . . . . . . . . . . . . . . . . . . . . . . 8-34
8.7.6.3 Receiver Warning Interrupt Enable (RWRNIE)—Bit 6. . . . . . . . . . . . . . . . . . . 8-34
8.7.6.4 Transmitter Warning Interrupt Enable (TWRNIE)—Bit 5. . . . . . . . . . . . . . . . . 8-34
8.7.6.5 Receiver Error Passive Interrupt Enable (RERRIE)—Bit 4 . . . . . . . . . . . . . . . 8-34
8.7.6.6 Transmitter Error Passive Interrupt Enable (TERRIE)—Bit 3 . . . . . . . . . . . . . 8-34
8.7.6.7 Bus Off Interrupt Enable (BOFFIE)—Bit 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-34
8.7.6.8 Overrun Interrupt Enable (OVRIE)—Bit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-35
8.7.6.9 Receiver Full Interrupt Enable (RXFIE)—Bit 0 . . . . . . . . . . . . . . . . . . . . . . . . 8-35
8.7.7 CAN Transmitter Flag Register (CANTFLG). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-35
8.7.7.1 Reserved—Bits 15–7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-35
8.7.7.2 Abort Acknowledge (ABTAK)—Bits 6–4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-35
8.7.7.3 Reserved—Bits 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-36
8.7.7.4 Transmitter Buffer Empty (TXE)—Bits 2–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-36
8.7.8 CAN Transmitter Control Register (CANTCR) . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-36
8.7.8.1 Reserved—Bits 15–7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-36
8.7.8.2 Abort Request (ABTRQ)—Bits 6–4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-37
8.7.8.3 Reserved—Bit 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-37
8.7.8.4 Transmitter Empty Interrupt Enable (TXEIE)—Bits 2–0 . . . . . . . . . . . . . . . . . 8-37
8.7.9 CAN Identifier Acceptance Control Register (CANIDAC) . . . . . . . . . . . . . . . . . . . 8-37
8.7.9.1 Reserved—Bits 15–6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-37
8.7.9.2 Identifier Acceptance Mode (IDAM)—Bits 5–4 . . . . . . . . . . . . . . . . . . . . . . . . 8-38
8.7.9.3 Reserved—Bit 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-38
8.7.9.4 Identifier Acceptance Hit Indicator (IDHIT)—Bits 2–0 . . . . . . . . . . . . . . . . . . . 8-38
8.7.10 CAN Receive Error Counter Register (CANRXERR) . . . . . . . . . . . . . . . . . . . . . . 8-39
8.7.11 CAN Transmit Error Counter Register (CANTXERR). . . . . . . . . . . . . . . . . . . . . . 8-39
8.7.12 CAN Identifier Acceptance Registers (CANIDAR0–7) . . . . . . . . . . . . . . . . . . . . . 8-39
8.7.12.1 Acceptance Code Bits (AC)—Bits 7–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-40
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8.7.13 CAN Identifier Mask Registers (CANIDMR0–7) . . . . . . . . . . . . . . . . . . . . . . . . . . 8-40
8.7.13.1 Acceptance Mask Bits (AM)—Bits 7–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-41
8.7.14 Programmer’s Model of Message Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-42
8.7.15 Receive/Transmit Buffer Identifier Registers (IDR0–3). . . . . . . . . . . . . . . . . . . . . 8-43
8.7.15.1 Extended Format Identifier—Bits ID[28:0]. . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-44
8.7.15.2 Standard Format Identifier—Bits ID[10:0] . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-44
8.7.15.3 Substitute Remote Request (SRR)—Bit 4 in IDR1 (Extended) . . . . . . . . . . . . 8-44
8.7.15.4 ID Extended (IDE)—Bit 3 in IDR1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-44
8.7.15.5 Remote Transmission Request (RTR)—Bit 4 in IDR1 (Standard). . . . . . . . . . 8-45
8.7.16 Receive/Transmit Buffer Data Segment Registers (DSR0–7) . . . . . . . . . . . . . . . 8-45
8.7.17 Data Length Register (DLR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-46
8.7.18 Transmit Buffer Priority Register (TBPR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-47
8.8 Low Power Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-48
8.8.1 Run Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-49
8.8.2 Wait Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-49
8.8.3 Stop Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-50
8.8.4 Sleep Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-51
8.8.5 Soft Reset Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-53
8.8.6 Power Down Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-53
8.8.7 Programmable Wake-Up Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-53
8.9 Interrupt Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-54
8.9.1 Interrupt Acknowledge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-55
8.9.2 Interrupt Sources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-55
8.9.3 Recovery from Stop or Wait . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-56
Chapter 9
Analog-to-Digital Converter (ADC)
9.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.3 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.4.1 Differential Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
9.5 Timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
9.6 Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
9.6.1 Analog Input Pins (AN0–AN7). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
9.6.2 ADC Channel Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
9.6.3 Voltage Reference Pin (V
REF
). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
9.6.4 Supply Pins (V
DDA
, V
SSA
). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
9.7 Register Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
9.7.1 ADC Control Register 1 (ADCR1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12
9.7.1.1 Reserved—Bit 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12
9.7.1.2 Stop (STOP)—Bit 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
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9.7.1.3 START Conversion (START)—Bit 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
9.7.1.4 SYNC Select (SYNC)—Bit 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
9.7.1.5 End Of Scan Interrupt Enable (EOSIE)—Bit 11. . . . . . . . . . . . . . . . . . . . . . . . 9-13
9.7.1.6 Zero Crossing Interrupt Enable (ZCIE)—Bit 10. . . . . . . . . . . . . . . . . . . . . . . . 9-13
9.7.1.7 Low Limit Interrupt Enable (LLMTIE)—Bit 9 . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
9.7.1.8 High Limit Interrupt Enable (HLMTIE)—Bit 8. . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
9.7.1.9 Channel Configure (CHNCFG)—Bits 7–4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
9.7.1.10 Reserved—Bit 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
9.7.1.11 Scan Mode (SMODE)—Bits 2–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
9.7.2 ADC Control Register 2 (ADCR2). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
9.7.2.1 Reserved—Bits 15–4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
9.7.2.2 Clock Divisor Select (DIV)—Bits 3–0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
9.7.3 ADC Zero Crossing Control Register (ADZCC) . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
9.7.4 ADC Channel List Registers (ADLST1 & ADLST2) . . . . . . . . . . . . . . . . . . . . . . . 9-17
9.7.5 ADC Sample Disable Register (ADSDIS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19
9.7.5.1 Test (TEST)—Bits 15–14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19
9.7.5.2 Reserved—Bits 13–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
9.7.5.3 Disable Sample (DS)—Bits 7–0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
9.7.6 ADC Status Register (ADSTAT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
9.7.6.1 Conversion in Progress (CIP)—Bit 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
9.7.6.2 Reserved—Bits 14–12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
9.7.6.3 End of Scan Interrupt (EOSI)—Bit 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21
9.7.6.4 Zero Crossing Interrupt (ZCI)—Bit 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21
9.7.6.5 Low Limit Interrupt (LLMTI)—Bit 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21
9.7.6.6 High Limit Interrupt (HLMTI)—Bit 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21
9.7.6.7 Ready Channel 7–0 (RDY)—Bits 7–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21
9.7.7 ADC Limit Status Register (ADLSTAT). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-22
9.7.8 ADC Zero Crossing Status Register (ADZCSTAT). . . . . . . . . . . . . . . . . . . . . . . . 9-22
9.7.8.1 Reserved—Bits 15–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23
9.7.8.2 Zero Crossing Status (ZCS)—Bits 7–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23
9.7.9 ADC Result Registers (ADRSLT0–7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23
9.7.9.1 Sign Extend (SEXT)—Bit 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-24
9.7.9.2 Digital Result of the Conversion (RSLT)—Bits 14–3. . . . . . . . . . . . . . . . . . . . 9-24
9.7.9.3 Reserved—Bits 2–0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-24
9.7.10 ADC Low and High Limit Registers (ADLLMT0–7) and (ADHLMT0–7) . . . . . . . . 9-25
9.7.11 ADC Offset Registers (ADOFS0–7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-26
9.8 Starting a Conversion if Status of ADC is Unknown. . . . . . . . . . . . . . . . . . . . . . . . . . 9-27
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Chapter 10
Quadrature Decoder
10.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
10.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
10.3 Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.3.1 Phase A Input (PHASEA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.3.2 Phase B Input (PHASEB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.3.3 Index Input (INDEX) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.3.4 Home Switch Input (HOME) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.4 Register Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.5 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.5.1 Positive versus Negative Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
10.5.2 Block Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
10.5.2.1 Glitch Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
10.5.2.2 Edge Detect State Machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
10.5.2.3 Position Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
10.5.2.4 Position Difference Counter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
10.5.2.5 Position Difference Counter Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
10.5.2.6 Revolution Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
10.5.2.7 Pulse Accumulator Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
10.5.2.8 Watchdog Timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
10.5.3 Prescaler for Slow or Fast Speed Measurement . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
10.5.4 Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
10.6 Holding Registers and Initializing Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
10.7 Register Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
10.7.1 Decoder Control Register (DECCR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-10
10.7.1.1 HOME Signal Transition Interrupt Request (HIRQ)—Bit 15 . . . . . . . . . . . . . 10-11
10.7.1.2 HOME Interrupt Enable (HIE)—Bit 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-11
10.7.1.3 Enable HOME to Initialize Position Counters UPOS and
LPOS (HIP)—Bit 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-11
10.7.1.4 Use Negative Edge of HOME Input (HNE)—Bit 12. . . . . . . . . . . . . . . . . . . . 10-11
10.7.1.5 Software Triggered Initialization of Position Counters UPOS and LPOS
(SWIP)—Bit 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-11
10.7.1.6 Enable Reverse Direction Counting (REV)—Bit 10. . . . . . . . . . . . . . . . . . . . 10-11
10.7.1.7 Enable Signal Phase Count Mode (PH1)—Bit 9 . . . . . . . . . . . . . . . . . . . . . . 10-12
10.7.1.8 Index Pulse Interrupt Request (XIRQ)—Bit 8 . . . . . . . . . . . . . . . . . . . . . . . . 10-12
10.7.1.9 Index Pulse Interrupt Enable (XIE)—Bit 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-12
10.7.1.10 Index Triggered Initialization of Position Counters UPOS and LPOS
(XIP)—Bit 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-12
10.7.1.11 Use Negative Edge of Index Pulse (XNE)—Bit 5 . . . . . . . . . . . . . . . . . . . . . 10-12
10.7.1.12 Watchdog Timeout Interrupt Request (DIRQ)—Bit 4. . . . . . . . . . . . . . . . . . . 10-13
10.7.1.13 Watchdog Timeout Interrupt Enable (DIE)—Bit 3 . . . . . . . . . . . . . . . . . . . . . 10-13
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10.7.1.14 Watchdog Enable (WDE)—Bit 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-13
10.7.1.15 Switch Matrix Mode (MODE[1:0])—Bits 1–0 . . . . . . . . . . . . . . . . . . . . . . . . . 10-13
10.7.2 Filter Interval Register (FIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-14
10.7.3 Watchdog Timeout Register (WTR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-15
10.7.4 Position Difference Counter Register (POSD) . . . . . . . . . . . . . . . . . . . . . . . . . . 10-15
10.7.5 Position Difference Hold Register (POSDH). . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-15
10.7.6 Revolution Counter Register (REV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-16
10.7.7 Revolution Hold Register (REVH). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-16
10.7.8 Upper Position Counter Register (UPOS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-16
10.7.9 Lower Position Counter Register (LPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-17
10.7.10 Upper Position Hold Register (UPOSH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-17
10.7.11 Lower Position Hold Register (LPOSH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-17
10.7.12 Upper Initialization Register (UIR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-18
10.7.13 Lower Initialization Register (LIR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-18
10.7.14 Input Monitor Register (IMR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-18
10.7.14.1 Reserved Bits—15–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-18
10.7.14.2 FPHA—Bit 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-18
10.7.14.3 FPHB—Bit 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19
10.7.14.4 FIND—Bit 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19
10.7.14.5 FHOM—Bit 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19
10.7.14.6 PHA—Bit 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19
10.7.14.7 PHB—Bit 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19
10.7.14.8 INDEX—Bit 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19
10.7.14.9 HOME—Bit 0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19
Chapter 11
Pulse Width Modulator Module (PWM)
11.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.2 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.3 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.4.1 Prescaler. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.4.2 PWM Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.4.2.1 Alignment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.4.2.2 Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
11.4.2.3 Pulse Width Duty Cycle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11.4.3 Independent or Complementary Channel Operation . . . . . . . . . . . . . . . . . . . . . . 11-7
11.4.4 Deadtime Generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
11.4.4.1 Top/Bottom Deadtime Correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10
11.4.4.2 Manual Deadtime Correction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-13
11.4.5 Automatic Deadtime Correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-15
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11.4.6 Output Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-16
11.5 Software Output Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-18
11.6 PWM Generator Loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-20
11.6.1 Load Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-20
11.6.2 Load Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-20
11.6.3 Reload Flag. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-21
11.6.4 Synchronization Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-23
11.6.5 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-23
11.7 Fault Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-25
11.7.1 Fault Pin Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-26
11.7.2 Automatic Fault Clearing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-26
11.7.3 Manual Fault Clearing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-27
11.8 Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-28
11.8.1 PWM0–PWM5 Pins—(PWM0–5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-28
11.8.2 FAULT0–FAULT3 Pins—(FAULT0–3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-28
11.8.3 IS2 Pins—(IS0–2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-28
11.9 Register Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-29
11.9.1 PWM Control Register (PMCTL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-30
11.9.1.1 Load Frequency Bits (LDFQ)—Bits 15–12 . . . . . . . . . . . . . . . . . . . . . . . . . . 11-30
11.9.1.2 Half Cycle Reload (HALF)—Bit 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-31
11.9.1.3 Current Polarity 2 (IPOL2)—Bit 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-31
11.9.1.4 Current Polarity 1 (IPOL1)—Bit 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-31
11.9.1.5 Current Polarity 0 (IPOL0)—Bit 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-32
11.9.1.6 Prescaler (PRSC)—Bits 7–6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-32
11.9.1.7 PWM Reload Interrupt Enable (PWMRIE)—Bit 5 . . . . . . . . . . . . . . . . . . . . . 11-32
11.9.1.8 PWM Reload Flag (PWMF)—Bit 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-32
11.9.1.9 Current Status (ISENS)—Bits 3–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-33
11.9.1.10 Load Okay (LDOK)—Bit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-33
11.9.1.11 PWM Enable (PWMEN)—Bit 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-33
11.9.2 PWM Fault Control Register (PMFCTL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-33
11.9.2.1 Reserved—Bits 15–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-34
11.9.2.2 FAULTx Pin Interrupt Enable (FIEx)—Bits 7, 5, 3, 1 . . . . . . . . . . . . . . . . . . . 11-34
11.9.2.3 FAULTx Pin Clearing Mode (FMODEx)—Bits 6, 4, 2, 0 . . . . . . . . . . . . . . . . 11-34
11.9.3 PWM Fault Status and Acknowledge Register (PMFSA) . . . . . . . . . . . . . . . . . . 11-34
11.9.3.1 FAULTx Pin (FPINx)—Bits 15, 13, 11, 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-34
11.9.3.2 FAULTx Pin Flag (FFLAGx)—Bits 14, 12, 10, 8 . . . . . . . . . . . . . . . . . . . . . . 11-34
11.9.3.3 Reserved—Bit 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-35
11.9.3.4 FAULTx Pin Acknowledge (FTACKx)—Bits 6, 4, 2, 0 . . . . . . . . . . . . . . . . . . 11-35
11.9.3.5 Deadtime X (DTx)—Bits 5–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-35
11.9.4 PWM Output Control Register (PMOUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-35
11.9.4.1 Output Pad Enable (PAD_EN)—Bit 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-35
11.9.4.2 Reserved—Bit 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-36
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11.9.4.3 Output Control Enables (OUTCTRL5–0)—Bits 13–8 . . . . . . . . . . . . . . . . . . 11-36
11.9.4.4 Reserved—Bits 7–6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-36
11.9.4.5 Output Control (OUT5–0)—Bits 5–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-36
11.9.5 PWM Counter Register (PMCNT). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-37
11.9.5.1 Reserved—Bit 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-37
11.9.5.2 Counter Register (CR)—Bits 14–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-37
11.9.6 PWM Counter Modulo Register (PWMCM). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-37
11.9.6.1 Reserved—Bit 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-37
11.9.6.2 Counter Modulo (PWMCM)—Bits 14–0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-37
11.9.7 PWM Value Registers (PWMVAL0–5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-38
11.9.7.1 Value (PWMVAL)—Bits 15–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-38
11.9.8 PWM Deadtime Register (PMDEADTM). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-38
11.9.8.1 Reserved—Bits 15–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-38
11.9.8.2 Deadtime (PWMDT)—Bits 7–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-39
11.9.9 PWM Disable Mapping Registers (PMDISMAP1-2) . . . . . . . . . . . . . . . . . . . . . . 11-39
11.9.10 PWM Configure Register (PMCFG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-40
11.9.10.1 Reserved—Bits 15–13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-40
11.9.10.2 Edge-Aligned or Center-Aligned PWMs (EDG)—Bit 12 . . . . . . . . . . . . . . . . 11-40
11.9.10.3 Reserved—Bit 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-40
11.9.10.4 Top-Side PWM Polarity (TOPNEG)—Bits 10–8 . . . . . . . . . . . . . . . . . . . . . . 11-40
11.9.10.5 Bottom-Side PWM Polarity (BOTNEG)—Bits 6–4. . . . . . . . . . . . . . . . . . . . . 11-40
11.9.10.6 Independent or Complement Pair Operation (INDEP)—Bits 3–1 . . . . . . . . . 11-41
11.9.10.7 Write Protect (WP)—Bit 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-41
11.9.11 PWM Channel Control Register (PMCCR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-41
11.9.11.1 Enable Hardware Acceleration (ENHA)—Bit15. . . . . . . . . . . . . . . . . . . . . . . 11-42
11.9.11.2 Reserved—Bit 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-42
11.9.11.3 Mask (MSK5–0)—Bits 13–8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-42
11.9.11.4 Reserved—Bits 7–6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-42
11.9.11.5 Value Register Load Mode (VLMODE)—Bits 5–4. . . . . . . . . . . . . . . . . . . . . 11-42
11.9.11.6 Reserved—Bit 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-43
11.9.11.7 Swap45 (SWP45)—Bit 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-43
11.9.11.8 Swap23 (SWP23)—Bit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-43
11.9.11.9 Swap01 (SWP01)—Bit 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-43
11.9.12 PWM Port Register (PMPORT). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-44
11.9.12.1 Reserved—Bits 15–7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-44
11.9.12.2 Port (PORT)—Bits 6–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-44
11.10 Clocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-44
11.11 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-45
11.12 Resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-45
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Chapter 12
Serial Communications Interface (SCI)
12.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
12.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
12.3 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2
12.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2
12.4.1 Data Frame Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3
12.4.2 Baud Rate Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4
12.4.3 Transmitter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4
12.4.3.1 Character Length. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4
12.4.3.2 Character Transmission. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-6
12.4.3.3 Break Characters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7
12.4.3.4 Preambles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7
12.4.4 Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7
12.4.4.1 Character Length. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-8
12.4.4.2 Character Reception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-8
12.4.4.3 Data Sampling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-9
12.4.4.4 Framing Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-11
12.4.4.5 Baud Rate Tolerance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-11
12.4.4.6 Receiver Wake-Up. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-13
12.5 Special Operating Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-14
12.5.1 Single-Wire Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-14
12.5.2 Loop Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-15
12.5.3 Low-Power Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-15
12.5.3.1 Run Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-15
12.5.3.2 Wait Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-16
12.5.3.3 Stop Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-16
12.6 Register Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-16
12.6.1 SCI Baud Rate Register (SCIBR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-17
12.6.1.1 Reserved—Bits 15–13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-18
12.6.1.2 SCI Baud Rate (SBR)—Bits 12–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-18
12.6.2 SCI Control Register (SCICR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-18
12.6.2.1 Loop Select Bit (LOOP)—Bit 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-18
12.6.2.2 Stop in Wait Mode (SWAI)—Bit 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-18
12.6.2.3 Receiver Source (RSRC)— Bit 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-19
12.6.2.4 Data Format Mode (M)—Bit 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-19
12.6.2.5 Wake-Up Condition (WAKE)—Bit 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-19
12.6.2.6 Polarity (POL)—Bit 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-19
12.6.2.7 Parity Enable (PE)—Bit 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-19
12.6.2.8 Parity Type (PT)—Bit 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-20
12.6.2.9 Transmitter Empty Interrupt Enable (TEIE)—Bit 7. . . . . . . . . . . . . . . . . . . . . 12-20
12.6.2.10 Transmitter Idle Interrupt Enable (TIIE)—Bit 6 . . . . . . . . . . . . . . . . . . . . . . . 12-20
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12.6.2.11 Receiver Full Interrupt Enable (RIE)—Bit 5. . . . . . . . . . . . . . . . . . . . . . . . . . 12-20
12.6.2.12 Receive Error Interrupt Enable (REIE)—Bit 4 . . . . . . . . . . . . . . . . . . . . . . . . 12-20
12.6.2.13 Transmitter Enable (TE)—Bit 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-20
12.6.2.14 Receiver Enable (RE)—Bit 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-21
12.6.2.15 Receiver Wake-Up (RWU)—Bit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-21
12.6.2.16 Send Break (SBK)—Bit 0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-21
12.6.3 SCI Status Register (SCISR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-21
12.6.3.1 Transmit Data Register Empty Flag (TDRE)—Bit 15. . . . . . . . . . . . . . . . . . . 12-22
12.6.3.2 Transmitter Idle Flag (TIDLE)—Bit 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-22
12.6.3.3 Receive Data Register Full Flag (RDRF)—Bit 13 . . . . . . . . . . . . . . . . . . . . . 12-22
12.6.3.4 Receiver Idle Line Flag (RIDLE)—Bit 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-22
12.6.3.5 Overrun Flag (OR)—Bit 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-22
12.6.3.6 Noise Flag (NF)—Bit 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-23
12.6.3.7 Framing Error Flag (FE)—Bit 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-23
12.6.3.8 Parity Error Flag (PF)—Bit 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-23
12.6.3.9 Reserved—Bits 7–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-23
12.6.3.10 Receiver Active Flag (RAF)—Bit 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-23
12.6.4 SCI Data Register (SCIDR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-24
12.6.4.1 Reserved—Bits 15–9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-24
12.6.4.2 Receive/Transmit Data—Bits 8–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-24
12.7 Clocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-24
12.8 Resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-24
12.9 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-25
12.9.1 Transmitter Empty Interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-25
12.9.2 Transmitter Idle Interrupt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-25
12.9.3 Receiver Full Interrupt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-25
12.9.4 Receive Error Interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-25
Chapter 13
Serial Peripheral Interface (SPI)
13.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
13.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
13.3 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-2
13.4 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-2
13.4.1 Master Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-3
13.4.2 Slave Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-4
13.5 Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-5
13.5.1 Master In/Slave Out (MISO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-5
13.5.2 Master Out/Slave In (MOSI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-5
13.5.3 Serial Clock (SCLK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-6
13.5.4 Slave Select (SS
) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-6
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13.6 Transmission Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-6
13.6.1 Data Transmission Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-7
13.6.2 Data Shift Ordering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-7
13.6.3 Clock Phase and Polarity Controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-7
13.6.4 Transmission Format When CPHA = 0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-7
13.6.5 Transmission Format When CPHA = 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-9
13.6.6 Transmission Initiation Latency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-10
13.7 Transmission Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-11
13.8 Error Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-13
13.8.1 Overflow Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-13
13.8.2 Mode Fault Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-15
13.8.2.1 Master SPI Mode Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-15
13.8.2.2 Slave SPI Mode Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-16
13.9 Register Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-16
13.9.1 SPI Status and Control Register (SPSCR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-17
13.9.1.1 Reserved—Bit 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-18
13.9.1.2 Data Shift Order (DSO)—Bit 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-18
13.9.1.3 SPI Receiver Full (SPRF)—Bit 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-18
13.9.1.4 Error Interrupt Enable (ERRIE)—Bit 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-18
13.9.1.5 Overflow (OVRF)—Bit 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-19
13.9.1.6 Mode Fault (MODF)—Bit 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-19
13.9.1.7 SPI Transmitter Empty (SPTE)—Bit 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-19
13.9.1.8 Mode Fault Enable (MODFEN)—Bit 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-19
13.9.1.9 SPI Baud Rate Select (SPR1 and SPR0)—Bits 7–6. . . . . . . . . . . . . . . . . . . 13-20
13.9.1.10 SPI Receiver Interrupt Enable (SPRIE)—Bit 5 . . . . . . . . . . . . . . . . . . . . . . . 13-20
13.9.1.11 SPI Master (SPMSTR)—Bit 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-20
13.9.1.12 Clock Polarity (CPOL)—Bit 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-20
13.9.1.13 Clock Phase (CPHA)—Bit 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-20
13.9.1.14 SPI Enable (SPE)—Bit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-21
13.9.1.15 SPI Transmit Interrupt Enable (SPTIE)—Bit 0. . . . . . . . . . . . . . . . . . . . . . . . 13-21
13.9.2 SPI Data Size Register (SPDSR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-21
13.9.2.1 Data Size (DS)—Bits 3–0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-22
13.9.3 SPI Data Receive Register (SPDRR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-22
13.9.4 SPI Data Transmit Register (SPDTR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-22
13.10 Resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-23
13.11 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-24
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Chapter 14
Quad Timer Module (TMR)
14.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-1
14.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-1
14.3 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-2
14.4 Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-2
14.5 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-2
14.5.1 Counting Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-3
14.5.2 External Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-3
14.5.3 OFLAG Output Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-3
14.5.4 Master Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-3
14.6 Counting Mode Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-3
14.6.1 Stop Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-4
14.6.2 Count Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-4
14.6.3 Edge-Count Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-4
14.6.4 Gated-Count Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-4
14.6.5 Quad-Count Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-4
14.6.6 Signed-Count Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-5
14.6.7 Triggered-Count Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-5
14.6.8 One-Shot Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-5
14.6.9 Cascade-Count Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-5
14.6.10 Pulse-Output Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-6
14.6.11 Fixed-Frequency PWM Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-6
14.6.12 Variable-Frequency PWM Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-6
14.6.13 Compare Registers Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-7
14.6.14 Capture Register Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-7
14.7 Register Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-8
14.7.1 Control Registers (CTRL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-10
14.7.1.1 Count Mode—Bits 15–13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-10
14.7.1.2 Primary Count Source—Bits 12–9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-11
14.7.1.3 Secondary Count Source (SCS)—Bits 8–7. . . . . . . . . . . . . . . . . . . . . . . . . . 14-12
14.7.1.4 Count Once (ONCE)—Bit 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-12
14.7.1.5 Count Length (LENGTH)—Bit 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-12
14.7.1.6 Count Direction (DIR)—Bit 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-12
14.7.1.7 Co-Channel Initialization (Co Init)—Bit 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-13
14.7.1.8 Output Mode (OM)—Bits 2-0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-13
14.7.2 Status and Control Registers (SCR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-13
14.7.2.1 Timer Compare Flag (TCF)—Bit 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-14
14.7.2.2 Timer Compare Flag Interrupt Enable (TCFIE)—Bit 14. . . . . . . . . . . . . . . . . 14-14
14.7.2.3 Timer Overflow Flag (TOF)—Bit 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-14
14.7.2.4 Timer Overflow Flag Interrupt Enable (TOFIE)—Bit 12. . . . . . . . . . . . . . . . . 14-14
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